JP2002315759A - Frame, especially for surgical microscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a frame which can adjust the compensation for drifts without requiring stooping further more quickly and simply than ever by arranging an ideal adjusting means for restricting the drifts possible on the frame without limiting (reducing) the facility of the motion of the frame. SOLUTION: The frame which has at least one vertically rotating shaft (30) or a rotary bearing (33) turnably arranged through a turning arm (11), a frame strut (1) and a frame leg (2) are so arranged that the rotating shaft (30) or the rotary bearing (33) is turnable and adjustable within at least two planes vertical to each other in the positional relationship with respect to the frame leg (2).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates generally to a mount, such as a mount for a surgical microscope, and more particularly to at least one vertical rotation through which a swivel arm is pivotally disposed. It relates to a gantry having a shaft or (at least one) pivot bearing, a gantry column and a gantry leg.

[0002]

2. Description of the Related Art Such a pedestal must support a relatively heavy microscope so that it can be moved for the user with as little resistance as possible. Therefore, the transmission,
The entire bearing and the like are configured to be as resistant as possible, and efforts are made to minimize the resistance to the user when performing any exercise.

[0003] By improving the ease of movement of the gantry,
If the installation location has undulations (eg, uneven floors), and even if the load applied to the gantry changes, a force or a rotational moment is generated, and each part of the gantry, especially the gantry arm, is braked. Drift movement may be performed in the disabled state. Drift movement is understood as a tendency to carry out a sideways movement (around the axis of rotation) or such a movement of the support arm, which is not desirable for the user.

Conventionally, the following three measures have been taken to reduce drift motion.

First means Adjustment of the pedestal leg: At least three of the four pedestal legs of the pedestal leg are configured to be adjustable in the height direction, and the level of the pedestal leg is adjusted to the level of the pedestal leg. Detect horizontal state. Such adjustments are made, for example, with the Mitaka FM2. This guarantees precise adjustment, but entails the following disadvantages: That is, since three-point adjustment is performed,
By making an adjustment to one of the points, a post-adjustment must be made at the remaining two adjustment points. It is very difficult for a user who is unfamiliar with such an operation to perform the adjustment work quickly and reliably.

[0006] This leads to further disadvantages. That is, the first
In addition, the adjustment of the pedestal legs must be performed while leaning down to the vicinity of the floor.

Second, each time the position of the gantry is changed, and each time the load on the gantry arm is changed, a new adjustment must be made, which usually involves all three adjustment points or All adjustment means must be newly adjusted.

Third, due to the mounting position of the adjusting means, when performing adjustment, the user is required to perform an operation near the floor (for example, far from the patient in the case of an operating room and in a sterilized state). Bad area).

[0009] Additionally, an assistant could be required to perform the adjustment task. On the other hand, it would be desirable if the adjustment could be made by the surgeon or surgical nurse himself.

Second Means A second known deformation means includes braking means for increasing the rotational friction. With such a braking means, the advantage of the ease of movement is intentionally diminished in order to reduce the drift movement. This is disadvantageous for the user, for example, the force required to move the support arm is increased. The high forces expended makes it difficult for the surgeon to perform subsequent scalpel manipulations or other tasks that need to be performed by a non-fatigued hand.

Third Means A third known variant is only known for ceiling mounts in the past, and is irrelevant to the inherent problem of property changes in drift motion due to uneven floor surfaces and the like. This is because, in the case of a ceiling mount, a fixed mounting position is usually provided from the beginning, and the position on the ceiling is not changed. If a fixed mounting position is provided, the position is naturally measured (set and adjusted) appropriately, so that, in principle, drift problems do not occur in the ceiling mount. Adjustment of the pedestal level on the floor (leveling)
, But after this adjustment the position change no longer takes place. On the other hand, depending on the load (weight) of the ceiling mount,
Possibly even different weights (loads)-create new dangers that can again cause drifting movements.

That is, a conventional horizontal gantry arm (which is
Since the strength of the vertical support is not infinitely large, if a further support arm attached to the vertical support of this horizontal support arm is bent around a vertical pivot axis, the additional support arm and its attachment The resulting weight of the microscope causes the first support arm to twist. Conversely, when the gantry arm is extended, a bending load occurs on the gantry arm. The purpose and solution of the ceiling-mounted cradle has been to achieve a state in which the microscope is maintained at the same height position both in the bent position of the cradle arm and in the extended position of the cradle arm. After such an adjustment is made, the adjustment (state) is, in principle, maintained as it is. A change in one state (position) of the gantry arm does not change its (adjustment) state. No change in position on the ceiling.

Known gantry structures, such as Dräger (Dr
aeger)-Series (Draeger (Germany)
a ”,“ Julian ”under the trade name of a series of ceiling-mounted gantry (which offered to the intensive care and intensive nursing market) or Kreuzer (Germany) gantry structure. A close examination does not find a solution, since in these ceiling mounts the pivoting kinematics for the operating microscope with increasing properties is not emphasized.

However, the increase in the frictional force in the rotary bearing causes the "displacement from a predetermined position (Aus-der-Posi
tion-Laufen) "is blocked. Therefore, with the known intensive care ceiling mount, the above-mentioned problem does not occur at all. However, just in the case of a microscope mount, it is required that the mechanical device does not drift when the braking device is released and that it can be moved particularly easily. for that reason,
For example, a lip switch (Mundschalter) is used which allows the surgeon to release the braking device on the one hand by movement of his lips and on the other hand to move the microscope to a new (target) position.

In the published patent application EP-A-1067419, such a known mechanism for restraining the drift of a ceiling-mounted gantry is disclosed in FIGS. I have. This known drift suppression device operates only in one plane, if necessary. Conventionally, further leveling or drift compensating measures are taken on the ceiling mounting base, since the horizontal mounting on the ceiling is performed only once and there is no deviation from the horizontal level (unevenness). There was no need. To this extent, the teachings known per se to the person skilled in the art include the problems mentioned at the outset,
In other words, with respect to the problem that the tilting state of the pedestal legs normally changes when the gantry is moved, no invitation to improve the gantry is provided.

[0016]

SUMMARY OF THE INVENTION It is therefore an object of the present invention to limit (decrease) the ease of movement of a gantry.
Provided is a gantry having suitable adjusting means for suppressing drift that may occur in the gantry, and capable of performing drift compensation adjustment more quickly and easily than a conventional gantry without having to bend down. It is to be.

[0017]

SUMMARY OF THE INVENTION The basic idea of the present invention is as follows.
This is "Ins-Lot-Stellen". That is, without complete alignment, the horizontal support arm will drift by gravity about its axis. Therefore, in order to solve this, an arrangement is made to make the shaft vertical.

According to a first aspect of the present invention, a swivel arm has at least one vertical rotary shaft or pivot bearing, a gantry post, and a gantry, through which the pivot arm is pivotably disposed. In particular, in a gantry such as a gantry for an operating microscope, the rotary shaft or the rotary bearing is configured to be pivotable and adjustable in at least two planes which are perpendicular to each other with respect to the gantry leg. . Furthermore, according to a second aspect of the invention, there is provided at least one vertical rotary shaft or pivot bearing, a gantry support, and a gantry, through which the pivot arm is pivotably arranged, especially In a mount such as a mount for an operating microscope, a rotating shaft or a rotary bearing
Pivotable about one of the two pivot axes, one of the two pivot axes is arranged to pass through the rotary axis or the rotary bearing, and the other pivot axis is connected to the rotary axis or the rotary bearing. Is arranged on the side of the.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention are described below, which are also the subject of the dependent claims. The gantry is further provided with a manual or automatic operating device (adjustment screw,
Controllable by an adjusting lever).
The gantry further has one pivot axis fixed at one end to the gantry support by a spherical bearing, the other pivot axis substantially passing through the center of the spherical bearing, and inside the pivot bearing or the pivot shaft. The bearing rod is mounted against the bearing, and the guide rod is disposed substantially through the center of the spherical bearing and perpendicular to one axis, and is articulated with the pivot rod on the guide rod. Preferably, the pivoting lever engages and the guide rod is coaxially aligned with the other axis. The cradle is preferably further characterized in that the automatic remote control means comprises an automatic device and is operated computer-controlled via at least one of an electronic level (Libelle), a tilt sensor or an angle sensor.

A gantry can be understood as any device that supports a gantry with respect to the floor. The pedestal can be a conventional pedestal, but can also be a trolley, a running winch, or the like. The gantry support can be understood not only as a conventional vertical support coupled to the pedestal legs, but also as a support arm or the like which can be moved via rails, running winches (Laufkatze) or the like.

According to a preferred embodiment of the gantry according to the invention, the rotating shaft and the pivot bearing (or housing) are connected via the gantry support (ie in or at the gantry support).
And the adjusting means is preferably in the horizontal plane and approximately 9
It is advantageous if this is ensured by adjusting screws which are arranged at an angle of 0 °.

The adjusting screw is preferably screw-mounted on the gantry column and directly abuts the pivot bearing (housing).

In a further advantageous embodiment of the gantry according to the invention, an elastic interposed member (layered member) is arranged between the pivot bearing (housing) and the bearing pipe or the support arm.

According to a preferred embodiment of the invention, the pivot bearing and / or the rotating shaft are furthermore provided by a shaft bearing (or a pivot bearing axiales Dreh-Schwenklager).
Supported directly or indirectly on the gantry support.

In a further embodiment of the gantry according to the invention, automatic remote control is provided. In this case, adjustment (control) of the gantry
All the moving parts involved in the operation (in particular the screw spindle, the adjusting screw) can be automatically controlled remotely. Further, preferably, the gantry is provided with an automatic control system. The automatic control system is actuated, for example, via at least one of an electronic level (Libellen), a tilt sensor, an angle sensor or similar, preferably computer-controlled, preferably directly or indirectly with a pivot bearing. I do.

Furthermore, in a preferred embodiment of the gantry according to the invention, a transmission is arranged between at least one operating element (such as an adjusting screw) or a motor and a pivotable pivot bearing (or housing). Is done.

In a further preferred embodiment of the gantry according to the invention, the gantry column is configured such that its position relative to the gantry is variable and is adjustable and / or controllable.

Further embodiments of the gantry according to the invention can be found from the dependent claims and the drawings.

[0029]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that reference numerals in the drawings attached to the claims are:
This is for the purpose of facilitating the understanding of the present invention, and is not intended to limit the present invention to the illustrated embodiments. The following embodiments are also for the purpose of facilitating the understanding of the invention.
It is not intended to exclude changes. In addition, this point,
The same applies after the correction.

FIGS. 1 to 14 are diagrammatically described, in which the same reference numbers refer to the same structural members or elements, and the same reference numbers refer to the figures, but with different suffixes. Slightly different structural members or elements having the same purpose or similar functions are meant.

As is evident from FIG. 1, what is fundamentally important are the vertical shafts 30a, 30b, which on the one hand can be arranged directly on the gantry support 1a and, on the other hand, (for example, FIG. It can be arranged on the support arm 11a of the gantry (as shown in FIG. 3 (a)). Further, as will be apparent from FIG. 2, such a pivot bearing (housing) 33a that receives or defines the rotating shaft 30c is also a basic element. The object of the invention when adjusting the shaft 30 or the pivot bearing (housing) 33 is to adjust the shaft 30 or the pivot bearing (housing) by a manual or automatic control adjustment process.
33 is to be vertically adjusted (Ins-Lot-Bringen).

FIG. 3A is a schematic view of the structure of the adjusting device. Since the bearing housing (or case) 33b is movably supported by the shaft support 67, the adjusting screw 34 is provided.
By a, the bearing housing 33b can be pressed against the elastic interposed member (inner) 66. Instead of being integrated directly into the gantry support, it is also possible to mount the support arm 11b on a gantry support or another support arm 11a which is movably mounted, for example, on a wall rail mount. The problem of the change in the drift behavior to be solved by the present invention is not considered, since the spatial arrangement with respect to the floor surface changes only when the axis of rotation deviates from a vertical state. On the other hand, in the present invention, the support arm 11a can be considered as a gantry support at least by the shaft support 67. On the other hand, such a bearing 67 could be integrated directly into the gantry support.

FIG. 3B shows that two or more adjusting screws 34 can displace the bearing housing 33b inside the elastic interposition member 66.

FIG. 4 is a schematic diagram of the structure of an adjustment device utilizing two spindles 38a and 38b, respectively, arranged in internally threaded elements 37a and 37b (eg, in a gantry pipe) which are fixedly supported in the axial direction. It is. Thereby (for example, by the adjusting screw of FIGS. 3A and 3B).
Both pressing and pulling movements are possible. X / z carriages (sliders) 39a and y to balance relative motion
/ Z carriage (slider) 39b is provided. The carriages 39a, 39b prevent the other from being affected when adjusting one. This is because the carriage support allows a z-axis pivoting movement caused by one.

FIG. 5 shows a modification of the swivel bearing device. In this turning bearing device, the bearing housing 33c can be adjusted by the two adjusting screws 34c and 34d so that the measurement sensor 61 (spherical level) indicates that the bearing housing 33c is in the vertical state. The measurement sensor is fixedly connected to the bearing housing 33c. The bearing housing is pivotable about axis 78 and about axis 68. The principle of this turning is shown in FIGS.
And is as follows:

The spherical bearing 79 forms a central locking point for the shaft 72 which carries the slewing bearing 33c on the gantry support 1.
The spherical bearing 79 accommodates a ball (spherical body) 73 a that is carried by or formed on the gantry support 1 and is fixedly connected to the shaft 72. A connecting device 74 that supports a pivoting connecting device 75 at both ends thereof is simultaneously fixedly connected to the shaft 72. By the rotation of the rotating tongue 49, the shaft 72 is
It pivots around its own axis 68 or around the ball 73a. As can be seen from FIG. 14, in this embodiment, the bearing housing (sleeve) 33c is supported by partial shafts 72a and 72b instead of the shaft 72. Further, FIG.
As can be seen from the figure, the bearing housing (sleeve) 33c is turned by the turning of the turning tongue.

To make the bearing housing 33c pivotable in the lateral direction (radial direction), the end of the shaft 72 is supported by a slide bearing 71 via, for example, a ball 73b.
In this slide bearing, the bearing can pivot in both directions in the axial direction, and can further pivot around the axis 68. The sliding bearing 71 is
By means of the screw spindle 53 its relative height with respect to the gantry column 1 can be displaced. During this displacement, the shaft 72
Swings in the spherical bearing 79, but does not affect the swing connection device 75 at that time.

The pivoting movement about the two axes 68 and 78, in the preferred embodiment shown in FIG.
And 34d. Adjusting screws 34c and 34
d acts on the swivel tongue 49 on the one hand and the screw spindle 53 on the other hand via a conventional bevel gearing or the like.

FIG. 6 shows the same swivel bearing of FIG. 5 from a different angle. In FIG. 6, a sliding device 48 with a pivoting tongue 49 which is displaced laterally by the rotation of the screw 34d and which is slidably supported up and down within the sliding device 48 can be found. The sliding device 48 is slidable along a sliding shaft 46 supported in a support block 45 fixed to the gantry column.

FIG. 7 is a top view of the swivel bearing of FIG.

FIG. 8 is a view in which the structural members are partially removed.
This is the same swivel bearing device. From FIG.
It is found that 4c drives the screw spindle 53 by the bevel gear unit 44. Adjusting the height of the slider 41 and thereby the bearing housing 33 about the axis 78;
The spindle 53 causing the pivoting of c is driven via the vertical part of the bevel gear unit 44. Spindle 53
Are supported in the guide block 40 and could be driven directly by a motor.

In FIG. 8, a cover 51 is furthermore found, which forms the outer surface of the gantry support and has a fixed pintle 7.
6 can be fixed.

FIGS. 9 and 10 show a structure corresponding to the embodiment of FIG. 5, showing a state in which the step motor 54 is attached and a state in which it is removed, respectively. The comparable bevel gear unit 44b has a slider 48 whose shaft 6
The spindle 53b that rotates around 8 is driven. The motor 54 has a toothed belt gear 77 in its lower area, in order to form a coupling (not described in detail here) for an adjustment drive in the support block 45.
7, a toothed belt can be wound. Since this structure is known to those skilled in the art and can take any variation, it will not be described in detail here.

Two spindles 53 or shafts 50
At the same time, the bearing housing 33c
Pivots obliquely with respect to axis 78 and axis 68. The pivoting about each of the axis 78 and the axis 68 may be performed independently of each other, and each is not affected by the other pivoting state.
Unlike other similar leveling (level adjustment) devices, the adjustment is performed by a simple xy carriage (slider)-and pivotable-so that the operation is very easy even for unskilled persons. It can be carried out. This structure is further simplified by replacing the manual adjustment screws 34c and 34d with the electric drive 54. An example of the electric drive device 54 is shown in FIG. 9 simply, but other structures and arrangements can be adopted.

FIG. 11 is a schematic diagram showing the structure of FIG. 3 again in a simplified manner, although the shaft support is not shown. The adjustment of the bearing pipe (housing) 33 involves the evaluation of the data of the angle sensor 61a or the electronic level or the electronic inclination sensor by the computer 60 and the driving device 58 (only shown here simply). This is automatically performed by a corresponding command to the control device 59 as a driving means.

FIG. 12 is a schematic diagram of the entire structure of an example of the gantry of the present invention. The gantry includes a gantry leg 2b, a gantry support 1
c, and a device case 63 that serves to improve tilting safety based on its structure. Reference numeral 65 denotes a braking device, which prevents the support arm 11c from rotating around the vertical axis 30c in a braking state. The supporting arm 11c is a German patent application DE 200 19 10
Carry additional gantry arms as shown in 7 (same public number). The features and technical features described in each figure and each figure of the German patent application (embodiments relating thereto) are incorporated herein by reference and deemed to be described herein.

Reference is also made to the disclosure contents of patent applications (DE 101 15 837.8, German serial number P2152, Japanese serial number P7187EE) filed on the same day in the Federal Republic of Germany-especially regarding other possible structures and forms of the gantry. Which is incorporated into the present application and is deemed to be described herein. The teachings of the patent application are combinable with the teachings of the present application.

[0048]

According to the independent claims 1 (first viewpoint) and 2 (second viewpoint) of the present invention, the effects listed as the predetermined objects are achieved. That is, the gantry of the first viewpoint and the gantry of the second viewpoint have suitable adjusting means for suppressing drift that may occur in the gantry without limiting (decreasing) the ease of movement of the gantry. Faster and easier than
Drift compensation adjustment can be performed without having to lean down. Each dependent claim achieves further additional advantages.

[Brief description of the drawings]

FIG. 1 is a schematic view of a gantry having a gantry leg, a gantry support, and a swing arm.

FIG. 2 is a schematic view of an adjustable vertical pivot bearing.

FIG. 3 (a) Longitudinal section view of an adjustable vertical pivot bearing in a (partially cut) horizontal support arm. FIG. 3B is a cross-sectional view of the structure of FIG.

FIG. 4 shows a spindle and an x / y carriage (slider).
And a y-z carriage (slider).

FIG. 5 is a modified example of a swivel bearing device combined with a gantry support.

FIG. 6 shows the swivel bearing of FIG. 5 from a different angle.

FIG. 7 is a top view of the swing bearing device of FIG. 5;

FIG. 8 shows the swivel bearing device of FIG. 5 with some structural members cut away.

FIG. 9 shows the swivel bearing of FIG. 5 from different angles with an electric drive (motor) for drift adjustment.

FIG. 10 shows the swivel bearing of FIG. 9 with the motor removed and viewed from a different angle.

FIG. 11 is a modification of the structure of FIG. 3 having automatic adjustment (control) drift compensation means.

FIG. 12 is an overall view of an example of a gantry of the present invention.

FIG. 13 is an example of a wire type model of a gantry of the present invention.

FIG. 14 is another example of the wire type model of the gantry of the present invention.

[Explanation of symbols]

1a, b, c Mounting column 2a, b Mounting leg 3 Female screw 4 Operating microscope 5 Auxiliary leg 6 Computer 7 Control device 8 Energy source 9 Support arm 10 Balance arm 11a, b, c, d Support partial arm 12a, b Distal Support arm 13 Cover console 14 Support post 15 Support plate 16 Fixed structural member, cover 17a, b, c Buffer layer 18a, b, c Non-buffer layer 19 Buffer interface, buffer element 20 Optical fiber cable 21 Equipment cabinet 22 Bridge 23 Vertical axis 24 Console 25 Display 26 Operating element 27 Gas compression spring 28 Adjusting means 29 Revolving member 30a, b, c Support shaft 31 Cardan type suspension member 32 Rolling element (or sliding member) 33a, b Bearing housing (case) 33c Bearing housing (sleeve) ) 4a, b, c, d Adjusting screw (lever) 35 Bridge 36 Buffer journal 37a, b Female screw 38a, b x / y carriage (slider) 39by y / z carriage (slider) 40 Guide block 41 Bearing block (slider) 42 Bearing 43 Guide rod 44 Bevel gear device 45 Support block 46 Sliding shaft 47 Revolving shaft 48 Sliding device 49 Revolving tong 50 Shaft 51 Cover shell 52 Shaft guiding device 53 Screw spindle 54 Servo motor (or step motor) 55 Transmission member 56 Arrow 57 Arrow 58 Motor 59 Control device 60 Computer 61 Measurement sensor 62 Transmission device 63 Device case 64 Handle 65 Braking device 66 Elastic intermediate layer (elastic interposed member) 67 Shaft support 68 Shaft 69 Housing 70 Transmission device 71 Sliding Bearing 72 Shaft 73a, b Ball (sphere) 74 Connecting device 75 Rotating connecting device 76 Fixed spindle 77 Gear for toothed belt 78 Shaft 79 Spherical bearing III, IV Cutting surface

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Andrzej Metersky Switzerland CH-8590 Romanshorn Suphirgasse 2

Claims (5)

[Claims] At least one vertical rotation shaft (30) or pivot bearing (33), through which a pivot arm (11) is pivotably arranged, a gantry support (1), and a gantry (1). 2), wherein the rotating shaft (30) or the rotating bearing (33) is rotatable and adjustable in at least two planes that are perpendicular to each other with respect to the gantry leg (2). A gantry characterized by being configured as possible. 2. At least one vertical axis of rotation (30) or pivot bearing (33) through which a pivot arm (11) is pivotably disposed, respectively; a gantry support (1);
And a gantry having a gantry (2), wherein the rotating shaft (30) or the rotating bearing (33) is pivotable about two pivot axes (68, 78),
One of the two pivots (68) is arranged to pass through the rotary shaft (30) or the rotary bearing (33), and the other pivot (78) is the rotary shaft (30) or A gantry, which is arranged on a side of the pivot bearing (33). 3. The swivel about the two pivots (68, 78) is controllable by a manual or automatic operating device (34c, 34d) spaced from the two pivots (68, 78). The gantry according to claim 2, wherein: 4. The one pivot shaft (68) is fixed at one end to the gantry support (1) by a spherical bearing (79), and the other pivot shaft (78) is fixed to the spherical bearing (79). ) And substantially pass through the center of said pivot bearing (3).
3c) and the guide rods (4
7) is disposed substantially through the center of the spherical bearing (79) and perpendicular to the one shaft (68), and the guide rod (47) is provided with the rotary bearing (33).
the pivoting lever (49) articulated with c) engages,
4. The gantry according to claim 3, wherein the guide rod (47) is coaxially aligned with the other axis (78). 5. The automatic remote control means comprises an automatic device and is operated under computer control via at least one of an electronic level, a tilt sensor or an angle sensor. The gantry according to any one of to 4.